A control method of four-legged robot stable walking with diagonal gait

摘要：

This paper proposes a kind of control method used to solve the stability problem of the trotted robot. Propose the concept of inside flip design four-footed robot and build a double inverted pendulum model. Establish dynamic equation to analyze the factors of affecting the motion stability. During walking, the center of gravity can maintain a proper vibration and have a maximum safety region of flip angle. Finally, use Adams to verify the control method.

关键词： four-footed robot inside flip double inverted pendulum model

作者: FAN Changhua JIANG Zhen HE Baiyu

作者单位: Shanghai university Shanghai 200072 China

会议类型: 国际会议

会议名称: 2011 International Conference on Machanical Engineering,Materials and Energy(2011年机械工程、材料与能源国际会议 ICMEME 2011)

会议地点: 大连

会议语种:英文

页码: 82-87

在线出版日期: 2011-10-19（万方平台首次上网日期，不代表论文的发表时间）